From b42e2946558d83db41fd0ac5aaa6fa2f967908f3 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Tue, 10 Mar 2026 16:28:29 +0100
Subject: [PATCH] fix(control_allcoator): actually use the defined constants

---
 .../ActuatorEffectivenessRotors.cpp                           | 4 ++--
 .../ActuatorEffectivenessRotors.hpp                           | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
index 00aad721e6..1669236b34 100644
--- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
@@ -270,10 +270,10 @@ bool ActuatorEffectivenessRotors::isAlignedWithAxis(const Vector3f &axis_abs, in
 {
 	for (int i = 0; i < 3; ++i) {
 		if (i == primary_idx) {
-			if (axis_abs(i) <= 0.1f) { return false; }
+			if (axis_abs(i) <= MAX_AXIS_NEGLIGIBLE) { return false; }
 
 		} else {
-			if (axis_abs(i) >= 0.5f) { return false; }
+			if (axis_abs(i) >= MIN_AXIS_DOMINANT) { return false; }
 		}
 	}
 
diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
index aaefd18171..23198cea67 100644
--- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
@@ -55,7 +55,7 @@ using namespace matrix;
 using ActuatorBitmask = ActuatorEffectiveness::ActuatorBitmask;
 
 static constexpr float MIN_AXIS_DOMINANT = 0.5f;
-static constexpr float MAX_AXIS_NEGLIGIBLE = 0.5f;
+static constexpr float MAX_AXIS_NEGLIGIBLE = 0.1f;
 
 class ActuatorEffectivenessRotors : public ModuleParams, public ActuatorEffectiveness
 {